In general, dummies will follow their parent objects to move, even though they have been set kinematic constraints with corresponding end-effector dummies. But in hexapod.ttm mobile robot tutorial, all of dummies (such as 'hexa_base', 'hexa_footTarget0', hexa_footTarget1', ..., 'hexa_footTarget5') under 'hexapod', except for 'hexa_legBase', have no motion same with their parent object.

in the hexapod example, IK works exactly as with any other dynamically enabled and IK controlled robot: the target dummy is moved to a desired position/orientation, and the tip dummy will follow.

Cheers

Yeah, I know that. But in the moving process, dummy 'hexa_base' is set to move relative to dummy 'heza_legBase'. So their parent, pure shape 'hexapod', moves followed with 'hexa_base'. But at this time, 'hexapod''s child, dummy 'hexa_legBase' doesn't move followed with its parent. So I don't know why. I am look forward for your reply.

All 6 legs are individually controlled by moving the foot target dummies in relation to the hexa_base dummy. The hexa_base dummy is used to additionally allow for a different height or rotation of the body in relation to all feet. e.g. if all feet target dummies are left untouched, but you simply move the hexa_base dummy, then the robot will be able to move its body while keeping the feet in place (typically the movement sequence at the beginning of the simulation)

All 6 legs are individually controlled by moving the foot target dummies in relation to the hexa_base dummy. The hexa_base dummy is used to additionally allow for a different height or rotation of the body in relation to all feet. e.g. if all feet target dummies are left untouched, but you simply move the hexa_base dummy, then the robot will be able to move its body while keeping the feet in place (typically the movement sequence at the beginning of the simulation)